Re: RTAB MAP Tutorial Needed

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-MAP-Tutorial-Needed-tp10881p10902.html


Hi,

For an overview of the ros package, you can read this paper "RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation".

For examples of usage under ROS2, the best starting point is the demos, in particular the "Indoor 2D LiDAR and RGB-D SLAM" and the "Turtlebot3" ones:
https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_demos#rtabmap_demos

then the examples if you have already some sensors to test with:
https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_examples/launch

For documentation about the ROS nodes, see http://wiki.ros.org/rtabmap_ros (it is ROS1 documentation, but we use same parameters/services for ROS2)